How can I map the environment as fast and well as the official demo does?I know this demo uses the Hokuyo URG 04LX UG01. But I am wondering if there is a demo scene for more detailed information or algorihtm?

you will have to decide for a sensor first. In case of the Hokuyo, you have a slow and precise version, and a fast and less-precise version.Then, read the data provided by the sensor and feed them to a point-cloud object for instance.

helloI am also trying to map the environment using rosrun gmapping slam_gmapping but when I simulate my scene in vrep I got this error on ros terminal.

[ WARN] [1505189631.767123764]: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: -0.07668[ WARN] [1505189631.862920856]: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: -0.07663

the reason for the error on V-REP side is because your object that has the joint control callback script attached to it has a name that contains a "#0" suffix. In that script, if getting object handle with: